Design of PID Controller for Teleopration System with Genetic Algorithm

journal of Artificial Intelligence in Electrical Engineering

مقاله 1، دوره 6، شماره 21، شهریور 2017، صفحه 1-7   

نوع مقاله: Original Article

نویسنده

Mohammad Esmaeil akbari^*

Director-in-Charge

چکیده

This paper presents a novel teleoperation controller for a nonlinear master–slave robotic system with constant time delay in communication channel. The proposed controller enables the teleoperation system to compensate human and environmental disturbances, while achieving master and slave position coordination in both free motion and contact situation. The current work basically extends the passivity based architecture upon the earlier work of Lee and Spong (2006) [14] to improve position tracking and consequently transparency in the face of disturbances and environmental contacts. The proposed controller employs a PID controller in each side to overcome some limitations of a PD controller and guarantee an improved with genetic algorithm is investigated. We wanted to build on the controller can be designed as desired, and the optimal coefficients are obtained.

کلیدواژه‌ها

Teleopration systems؛ master slave robot؛ Time delay؛ Genetic Algorithm؛ PID Controller